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Convert depth and thermal image data to RGB before sending over websockets #112

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merged 2 commits into from
May 6, 2021

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@iche033 iche033 commented Apr 23, 2021

Signed-off-by: Ian Chen [email protected]

🎉 New feature

Summary

Depends on gazebosim/gz-common#205

Depth (float) and thermal camera image data (uint8_t and uint16_t) are now converted to RGB images before sending over websockets to the client side. This should be transparent to the client and no changes should be needed to display these images.

Test it

Test with sensors_demo.sdf world by using this launch file:

<?xml version='1.0'?>
<ignition version='1.0'>
  <executable name='gazebo-server'>
    <command>ign gazebo -v 4 -r sensors_demo.sdf</command>
  </executable>

  <plugin name="ignition::launch::WebsocketServer"
          filename="ignition-launch-websocket-server">
    <port>9002</port>
  </plugin>
</ignition>
  1. Launch webapp
  2. Go to System Admin page (need permission) -> Websockets
  3. Connect to the local server
  4. Check the camera topics to see the images rendered below the gz3d window

image_visualization_webapp

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

@iche033 iche033 requested a review from nkoenig April 23, 2021 22:33
@github-actions github-actions bot added the 🔮 dome Ignition Dome label Apr 23, 2021
@iche033 iche033 added the needs upstream release Blocked by a release of an upstream library label Apr 23, 2021
Signed-off-by: Louise Poubel <[email protected]>
@chapulina chapulina enabled auto-merge (squash) May 5, 2021 23:48
@chapulina chapulina removed the needs upstream release Blocked by a release of an upstream library label May 5, 2021
@chapulina chapulina merged commit 38b27ff into ign-launch3 May 6, 2021
@chapulina chapulina deleted the image_visualization branch May 6, 2021 00:52
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4 participants